阅读说明：本技术 盾构机用高效换刀机器人 (Efficient tool changing robot for shield machine ) 是由 贾连辉 姜礼杰 杜孟超 赵梦媛 文勇亮 钱豪 张树祺 于 2019-10-31 设计创作，主要内容包括：本发明公开了一种盾构机用高效换刀机器人,解决了现有技术中盾构换刀机器人工作效率低的问题。本发明包括换刀机器人本体,换刀机器人本体的前端设有末端执行机构,换刀机器人本体滑动设置在滑移轨道上,所述换刀机器人本体包括移动大臂和伸缩小臂,伸缩小臂通过第一回转机构与移动大臂相连接,末端执行机构通过第二回转机构与伸缩小臂相连接；所述末端执行机构包括运动调节机构,运动调节机构上设有夹爪组件、图像采集机构、螺栓松紧机构和高压清洗机构。本发明采用双伸缩臂结构,移动大臂、伸缩小臂配合末端执行机构形成完整的执行结构,对滚刀进行安装和拆卸满足对刀盘不同位置的滚刀的更换,实现对滚刀的高精度快速拆装。(The invention discloses a high-efficiency tool changing robot for a shield machine, which solves the problem of low working efficiency of the shield tool changing robot in the prior art. The tool changing robot comprises a tool changing robot body, wherein a tail end executing mechanism is arranged at the front end of the tool changing robot body, the tool changing robot body is arranged on a sliding track in a sliding mode and comprises a movable large arm and a telescopic small arm, the telescopic small arm is connected with the movable large arm through a first swing mechanism, and the tail end executing mechanism is connected with the telescopic small arm through a second swing mechanism; the tail end executing mechanism comprises a movement adjusting mechanism, and a clamping jaw assembly, an image collecting mechanism, a bolt tightening mechanism and a high-pressure cleaning mechanism are arranged on the movement adjusting mechanism. The invention adopts a double-telescopic-arm structure, the movable large arm and the telescopic small arm form a complete execution structure in cooperation with the tail end execution mechanism, the installation and the disassembly of the hob meet the requirements of replacing the hob at different positions of the hob, and the high-precision quick disassembly and assembly of the hob are realized.)

1. The utility model provides a shield constructs machine high-efficient tool changing robot, includes tool changing robot body (2), and the front end of tool changing robot body (2) is equipped with terminal actuating mechanism (1), and tool changing robot body (201) slide to set up on the track that slides, its characterized in that: the tool changing robot body (2) comprises a movable large arm (201) and a telescopic small arm (202), the telescopic small arm (202) is connected with the movable large arm (201) through a first swing mechanism (203), and a tail end executing mechanism (1) is connected with the telescopic small arm (202) through a second swing mechanism (204); the tail end executing mechanism (1) comprises a movement adjusting mechanism (1-5), and a clamping jaw assembly (1-1), an image collecting mechanism (1-2), a bolt tightening mechanism (1-4) and a high-pressure cleaning mechanism (1-3) are arranged on the movement adjusting mechanism (1-5).

2. The efficient tool-changing robot for the shield tunneling machine according to claim 1, characterized in that: the movable large arm (201) comprises a first supporting arm (201-1), a first telescopic arm (201-2) is arranged in the first supporting arm (201-1) in a sliding mode, the first telescopic arm (201-2) slides along the first supporting arm (201-1) through a telescopic driving structure, and a first rotating mechanism (203) is arranged at the front end of the first telescopic arm (201-2).

3. The efficient tool-changing robot for the shield tunneling machine according to claim 2, characterized in that: the telescopic small arm (202) comprises a second supporting arm (201-5), a second telescopic arm (201-6) is arranged in the second supporting arm (201-5) in a sliding mode, the second telescopic arm (201-6) slides along the second supporting arm (201-5) through a telescopic driving structure, and the second supporting arm (201-5) is connected with the first telescopic arm (201-2) through a first rotating mechanism (203).

4. The efficient tool-changing robot for the shield tunneling machine according to claim 3, characterized in that: the first rotating mechanism (203) comprises a radial surface rotating part (203-1) and an axial surface rotating disc (203-2), one end of the radial surface rotating part (203-1) is connected with the first supporting arm (201-1), the other end of the radial surface rotating part is connected with the axial surface rotating disc (203-2), and the axial surface rotating disc (203-2) is connected with the second supporting arm (201-5).

5. The efficient tool-changing robot for the shield tunneling machine according to any one of claims 1-4, characterized in that: the movement adjusting mechanism (1-5) comprises a cross-shaped movement seat (501) and a connecting box body (502), the connecting box body (502) is connected with the cross-shaped movement seat (501) through a first rotating mechanism (503), and the clamping jaw assembly (1) is arranged on the connecting box body (502) and is in sliding connection with the connecting box body (502) through a sliding driving mechanism.

6. The efficient tool-changing robot for the shield tunneling machine according to claim 5, characterized in that: the cross-shaped moving seat (501) comprises a lower plate seat (501-1), a middle plate seat (501-2) and an upper plate seat (501-3), the lower plate seat (501-1) is connected with the middle plate seat (501-2) through a longitudinal sliding mechanism, and the middle plate seat (501-2) is connected with the upper plate seat (501-3) through a transverse sliding mechanism.

7. The efficient tool-changing robot for the shield tunneling machine according to claim 5 or 6, characterized in that: the first rotating mechanism (503) comprises a universal joint (3-1) and two rotating oil cylinders (3-2), and the two rotating oil cylinders (3-2) are positioned on the outer peripheral side of the universal joint (3-1); the two rotary oil cylinders (3-2) are vertical in the stretching direction, one end of each rotary oil cylinder (3-2) is hinged with the upper plate seat (501-3), and the other end of each rotary oil cylinder is hinged with the connecting box body (502).

8. The efficient tool-changing robot for the shield tunneling machine according to claim 7, characterized in that: the clamping jaw assembly (1-1) comprises a fixed jaw (101) and a movable jaw (102), the movable jaw (102) is hinged to the fixed jaw (101) and can be opened and closed through a clamping oil cylinder (108), and the top of the fixed jaw (101) is connected with a sliding driving mechanism.

9. The efficient tool-changing robot for the shield tunneling machine according to claim 7, characterized in that: the sliding driving mechanism comprises a guide rail (105), the guide rail (105) is fixed in a connecting box body (502), a sliding block (103) is arranged on the guide rail (105) in a sliding mode, the sliding block (103) is fixedly connected with a fixed claw (101), a moving oil cylinder (106) is hinged to the sliding block (103), and the moving oil cylinder (106) pushes the sliding block (103) to move along the guide rail (105).

10. The efficient tool-changing robot for the shield tunneling machine according to claim 7, characterized in that: the fixed claw (101) and the movable claw (102) are both U-shaped clamping claws with radian, and the movable claw (102) is connected with the fixed claw (102) through a pin shaft (104); the clamping end of the fixed claw (101) and the clamping end of the movable claw (102) are in a wrapping state, and clamping grooves (109) are formed in the inner wall of the clamping end of the fixed claw (101) and the inner wall of the clamping end of the movable claw (102).

11. The efficient tool-changing robot for the shield tunneling machine according to claim 7, characterized in that: the image acquisition mechanism (1-2) comprises a camera (1-2-1) and a multi-degree-of-freedom adjusting platform (1-2-2), and the multi-degree-of-freedom adjusting platform (1-2-2) is positioned in the connecting box body (502) and extends upwards out of the connecting box body (502); the camera (1-2-1) is arranged on the upper portion of the multi-degree-of-freedom adjusting platform (1-2-2) through the second rotating mechanism (1-2-3), the multi-degree-of-freedom adjusting platform (1-2-2) comprises a fixed platform (2-1) and a movable platform (2-2), a swinging lifting mechanism is arranged between the fixed platform (2-1) and the movable platform (2-2), and the swinging lifting mechanism drives the movable platform (2-2) to swing and lift.

12. The efficient tool-changing robot for the shield tunneling machine according to claim 7, characterized in that: the swing lifting mechanism comprises a telescopic piece (2-3) and a central column (2-4), the central column (2-4) is fixedly and vertically arranged at the lower part of the movable platform (2-2) and is positioned at the central position of the movable platform (2-2), a shaft sleeve (2-5) is fixedly arranged on the fixed platform (2-1), and the lower part of the central column (2-4) is positioned in the shaft sleeve (2-5); two ends of the telescopic piece (2-3) are respectively hinged with the fixed platform (2-1) and the movable platform (2-2), and the telescopic piece (2-3) is positioned around the central column (2-4).

13. The efficient tool-changing robot for the shield tunneling machine according to claim 7, characterized in that: the second rotating mechanism (1-2-3) comprises a gear disc (2031) and a small motor (2032), the gear disc (2031) is rotatably arranged on the fixed platform (2-1), the small motor (2032) is fixedly arranged on the fixed platform (2-1), the small motor (2031) drives the gear disc (2031) to rotate, and the camera (1-2-1) is arranged on the gear disc (2031).

14. The efficient tool-changing robot for the shield tunneling machine according to claim 7, characterized in that: the bolt tightening mechanism (1-4) comprises a torque driving piece (401), a torque wrench (404) and a flexible end mechanism (406), the torque driving piece (401) is connected with the torque wrench (404) through a connecting rod mechanism (402), the torque driving piece (401), the connecting rod mechanism (402) and the torque wrench (404) are located in a connecting box body (502), the flexible end mechanism (406) stretches out of the connecting box body (502), one end of the torque wrench (404) is connected with the flexible end mechanism (406), and the torque driving piece (401) drives the flexible end mechanism (406) to rotate through the connecting rod mechanism (402) and the torque wrench (404).

15. The efficient tool-changing robot for the shield tunneling machine according to claim 7, characterized in that: flexible end mechanism (406) includes outer sleeve (4061), middle sleeve (4062) and center sleeve (4063), and middle sleeve (4062) cover is established and is connected with outer sleeve (4061) inside outer sleeve (4061) and through first bolt (4066), and center sleeve (4063) cover is established and be connected with middle sleeve (4062) inside middle sleeve (4062) and through second bolt (4064), is equipped with nut-shaped draw-in groove (4067) on center sleeve (4063).

16. The efficient tool-changing robot for the shield tunneling machine according to claim 7, characterized in that: the outer sleeve (4061), the middle sleeve (4062) and the central sleeve (4063) are coaxially arranged, and the outer sleeve (4061), the middle sleeve (4062) and the central sleeve (4063) are provided with radial springs (4065); the top of the outer sleeve (4061) is provided with a speed reducer (405), an output shaft of the speed reducer (405) is fixedly connected with the outer sleeve (4061), and an input shaft of the speed reducer (405) is fixedly connected with the torque wrench (404).

17. The efficient tool-changing robot for the shield tunneling machine according to claim 7, characterized in that: the connecting rod mechanism (402) comprises a connecting plate (4021) and two connecting rods (4022), the connecting plate (4021) is fixedly connected with the torque driving piece (401), one end of each connecting rod (4022) is hinged to the connecting plate (4021), and the other end of each connecting rod (4022) is provided with a cross connecting seat (4023); the connecting rod (4022) is fixedly connected with the torque wrench (404) through the cross connecting seat (4023), a pre-positioning push rod (4024) is arranged at the outer end of the cross connecting seat (4023), and the pre-positioning push rod (4024) corresponds to a convex block (4025) arranged in the connecting box body (502).

18. The efficient tool-changing robot for the shield tunneling machine according to claim 7, characterized in that: the high-pressure cleaning mechanism (1-3) comprises a nozzle connector (302) and an interface pipeline (303), the nozzle connector (302) is sleeved in the interface pipeline (303) and upwards penetrates through the connecting box body (502), a high-pressure nozzle (301) is arranged at the upper part of the nozzle connector (302), and the interface pipeline (303) is fixed inside the connecting box body (502) and is connected with an external water source.

19. The efficient tool-changing robot for the shield tunneling machine according to claim 7, characterized in that: the nozzle joint is characterized in that roller supports (304) are arranged on two sides of the nozzle joint (302), the roller supports (304) are fixedly connected with the connecting box body (502), rollers (305) are arranged on the roller supports (304), a wheel shaft of each roller (305) is connected with a nozzle motor (306) fixed on the connecting box body (502), and the rollers (305) are in friction contact with the nozzle joint (302) and can drive the nozzle joint (302) to move up and down through rotation of the rollers (305).

Technical Field

The invention relates to the technical field of shield cutter changing simulation devices, in particular to a high-efficiency cutter changing robot for a shield machine.

Background

The cutter consumption is big, the change is frequent in the full-face entry driving machine work progress, and cutter detection and tool changing operating time account for tunnel construction cycle more than 10%, and current cutter detects and tool changing work mainly relies on manual work, and the operation potential safety hazard under construction environment such as big buried depth, high water pressure is big, major incident such as casualties easily appears. According to statistics, nearly 70% of tunnel construction safety accidents in China are directly related to manual tool changing operation, and international industrial problems of 'difficult detection and tool changing' become bottlenecks which restrict tunnel construction safety and efficiency under complex geological conditions.

However, in the current stage, the research on the cutter changing robot is less, and the whole shield machine is huge in size and high in cost, so that the research on the cutter changing robot needs to fully consider the matching degree with the whole shield machine and the accurate positioning of cutter changing, the cutter changing efficiency and the cutter changing safety, and therefore, the design of the cutter changing robot for the shield machine, which is high in matching degree with the existing shield machine and high in cutter changing efficiency, is necessary.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides an efficient tool changing robot for a shield machine, which solves the problem of low working efficiency of the shield tool changing robot in the prior art.

The technical scheme of the invention is realized as follows: a high-efficiency tool changing robot for a shield machine comprises a tool changing robot body, wherein a tail end executing mechanism is arranged at the front end of the tool changing robot body, the tool changing robot body is arranged on a sliding track in a sliding mode and comprises a movable large arm and a telescopic small arm, the telescopic small arm is connected with the movable large arm through a first rotating mechanism, and the tail end executing mechanism is connected with the telescopic small arm through a second rotating mechanism; the tail end executing mechanism comprises a movement adjusting mechanism, and a clamping jaw assembly, an image collecting mechanism, a bolt tightening mechanism and a high-pressure cleaning mechanism are arranged on the movement adjusting mechanism.

The movable large arm comprises a first supporting arm, a first telescopic arm is arranged in the first supporting arm in a sliding mode, the first telescopic arm slides along the first supporting arm through a telescopic driving structure, and a first rotating mechanism is arranged at the front end of the first telescopic arm.

The telescopic small arm comprises a second supporting arm, a second telescopic arm is arranged in the second supporting arm in a sliding mode, the second telescopic arm slides along the second supporting arm through a telescopic driving structure, and the second supporting arm is connected with the first telescopic arm through a first swing mechanism.

The first rotating mechanism comprises a radial surface rotating part and an axial surface rotating disc, one end of the radial surface rotating part is connected with the first supporting arm, the other end of the radial surface rotating part is connected with the axial surface rotating disc, and the axial surface rotating disc is connected with the second supporting arm.

The tail end executing mechanism comprises a movement adjusting mechanism, a clamping jaw assembly, an image collecting mechanism, a bolt tightening mechanism and a high-pressure cleaning mechanism are arranged on the movement adjusting mechanism, and the clamping jaw assembly, the image collecting mechanism, the bolt tightening mechanism and the high-pressure cleaning mechanism are located on the same plate surface of the movement adjusting mechanism.

The movement adjusting mechanism comprises a cross-shaped movement seat and a connecting box body, the connecting box body is connected with the cross-shaped movement seat through a first rotating mechanism, and the clamping jaw assembly is arranged on the connecting box body and is in sliding connection with the connecting box body through a sliding driving mechanism.

The cross motion seat comprises a lower plate seat, a middle plate seat and an upper plate seat, the lower plate seat is connected with the middle plate seat through a longitudinal sliding mechanism, and the middle plate seat is connected with the upper plate seat through a transverse sliding mechanism.

The first rotating mechanism comprises a universal joint and two rotating oil cylinders, and the two rotating oil cylinders are positioned on the outer peripheral side of the universal joint; the telescopic directions of the two rotary oil cylinders are vertical, one end of each rotary oil cylinder is hinged with the upper plate seat, and the other end of each rotary oil cylinder is hinged with the connecting box body.

The clamping jaw assembly comprises a fixed jaw and a movable jaw, the movable jaw is hinged to the fixed jaw and can be opened and closed through a clamping oil cylinder, and the top of the fixed jaw is connected with a sliding driving mechanism.

The sliding driving mechanism comprises a guide rail, the guide rail is fixed in the connecting box body, a sliding block is arranged on the guide rail in a sliding mode, the sliding block is fixedly connected with the fixed claw, a moving oil cylinder is hinged to the sliding block, and the moving oil cylinder pushes the sliding block to move along the guide rail.

The fixed claw and the movable claw are both U-shaped clamping claws with radian, and the movable claw is connected with the fixed claw through a pin shaft; the clamping end of the fixed claw and the clamping end of the movable claw are in a wrapping state, and clamping grooves are formed in the inner wall of the clamping end of the fixed claw and the inner wall of the clamping end of the movable claw.

The image acquisition mechanism comprises a camera and a multi-degree-of-freedom adjusting platform, and the multi-degree-of-freedom adjusting platform is positioned in the connecting box body and extends upwards out of the connecting box body; the camera is arranged on the upper portion of the multi-freedom-degree adjusting platform through the second rotating mechanism, the multi-freedom-degree adjusting platform comprises a fixed platform and a movable platform, a swinging lifting mechanism is arranged between the fixed platform and the movable platform, and the swinging lifting mechanism drives the movable platform to swing and lift.

The swing lifting mechanism comprises a telescopic piece and a central column, the central column is fixedly and vertically arranged at the lower part of the movable platform and is positioned at the central position of the movable platform, a shaft sleeve is fixedly arranged on the fixed platform, and the lower part of the central column is positioned in the shaft sleeve; the both ends of extensible member are articulated with fixed platform and movable platform respectively, and the extensible member is located the periphery of center post.

The second rotary mechanism comprises a gear disc and a small motor, the gear disc is rotatably arranged on the fixed platform, the small motor is fixedly arranged on the fixed platform, the small motor drives the gear disc to rotate, and the camera is installed on the gear disc.

The bolt tightening and loosening mechanism comprises a torque driving part, a torque wrench and a flexible end mechanism, the torque driving part is connected with the torque wrench through a connecting rod mechanism, the torque driving part, the connecting rod mechanism and the torque wrench are located in a connecting box body, the flexible end mechanism stretches out of the connecting box body, one end of the torque wrench is connected with the flexible end mechanism, and the torque driving part drives the flexible end mechanism to rotate through the connecting rod mechanism and the torque wrench.

The flexible tail end mechanism comprises an outer sleeve, a middle sleeve and a central sleeve, the middle sleeve is sleeved inside the outer sleeve and connected with the outer sleeve through a first bolt, the central sleeve is sleeved inside the middle sleeve and connected with the middle sleeve through a second bolt, and a nut-shaped clamping groove is formed in the central sleeve.

The outer sleeve, the middle sleeve and the central sleeve are coaxially arranged, and the outer sleeve, the middle sleeve and the central sleeve are provided with radial springs; the top of outer sleeve is equipped with the speed reducer, and the output shaft and the outer sleeve fixed connection of speed reducer, the input shaft and the torque wrench fixed connection of speed reducer.

The connecting rod mechanism comprises a connecting plate and two connecting rods, the connecting plate is fixedly connected with the torque driving piece, one end of each connecting rod is hinged with the connecting plate, and the other end of each connecting rod is provided with a cross-shaped connecting seat; the connecting rod is fixedly connected with the torque wrench through the cross connecting seat, the outer end part of the cross connecting seat is provided with a pre-positioning push rod, and the pre-positioning push rod corresponds to a lug arranged in the connecting box body.

The high-pressure cleaning mechanism comprises a nozzle joint and an interface pipeline, the nozzle joint is sleeved in the interface pipeline and upwards penetrates through the connecting box body, a high-pressure nozzle is arranged at the upper part of the nozzle joint, and the interface pipeline is fixed in the connecting box body and is connected with an external water source.

The spray nozzle is characterized in that roller wheel supports are arranged on two sides of the spray nozzle connector and fixedly connected with the connecting box body, roller wheels are arranged on the roller wheel supports, wheel shafts of the roller wheels are connected with a spray nozzle motor fixed on the connecting box body, and the roller wheels are in friction contact with the spray nozzle connector and can drive the spray nozzle connector to move up and down through rotation of the roller wheels.

The invention adopts a double-telescopic-arm structure, the movable large arm and the telescopic small arm form a complete execution structure in cooperation with the tail end execution mechanism, the installation and the disassembly of the hob meet the requirements of replacing the hob at different positions of the hob, and the high-precision quick disassembly and assembly of the hob are realized. The motion adjusting mechanism of the tail end executing mechanism can drive the clamping jaw to translate and rotate, and the position and the angle of the clamping jaw are adjusted to adapt to the dismounting and the replacement of cutters at different positions; the bolt tightening and loosening mechanism can realize quick positioning and quick clamping and matching of bolts or nuts, safe and efficient operation is realized, and the working efficiency is improved. The image acquisition mechanism adopts the cooperation of the multi-degree-of-freedom adjusting platform and the rotating mechanism, is convenient for quick focusing, superposes the movement of the tool changing robot tail end actuating mechanism, meets the requirement of multi-degree-of-freedom adjusting camera shooting position, and increases the range of image acquisition. The high-pressure cleaning mechanism can realize the up-and-down movement of the nozzle joint in the interface pipeline so as to be suitable for the cleaning of cutters at different positions. The tool changing device is ingenious in design, high in structural integration level and flexible in movement, can clamp and hoist the tool, tighten and loosen the bolt and clean the tool at high pressure, can acquire images and monitor the images in real time, improves the tool changing efficiency and the operation safety coefficient, and has high popularization value.

Drawings

In order to illustrate the embodiments of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the invention, and that other drawings may be derived from those drawings by a person skilled in the art without inventive effort.

Fig. 1 is a schematic view of the overall structure of the present invention.

FIG. 2 is a schematic view of the tool-changing robot body structure

FIG. 3 is a schematic structural diagram of an end effector mechanism according to the present invention.

Fig. 4 is a schematic structural diagram of the movement adjusting mechanism of the present invention.

FIG. 5 is a schematic view of the cross motion base of the present invention.

Figure 6 is a schematic view of the jaw assembly of the present invention.

Fig. 7 is a schematic structural diagram of an image capturing mechanism according to the present invention.

FIG. 8 is a schematic structural diagram of the multi-degree-of-freedom adjustment platform of the present invention.

Fig. 9 is a schematic structural view of the bolt tightening mechanism of the present invention.

Fig. 10 is a schematic view of the internal structure of the flexible tip mechanism of the present invention.

FIG. 11 is a schematic cross-sectional view of the connection box of the present invention.

FIG. 12 is a schematic view of the high pressure cleaning mechanism of the present invention.

FIG. 13 is a schematic cross-sectional view of a high pressure cleaning mechanism of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.